To extend the realm of application of the well known controller design technique of interconnection and damping assignment passivity–based control (IDA–PBC) of mechanical systems two modifications to the standard method are presented in this article. First, similarly to [1], it is proposed to avoid the splitting of the control action into energy–shaping and damping injection terms, but instead ...

Disturbances and model uncertainties often have large impact on model based fault detection and isolation (FDI) processes and result in false alarm or reduced fault detection rate. In rotor systems exited by unbalances, the predominant disturbances (e.g. unbalance forces) and model uncertainties caused by gyroscopic effect appear in a sinusoidal form with rotor rotary frequency. If the influenc...